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Thanks for reporting the issue. Just to clarify, when you say "on map load", do you mean after clicking on a map in the library, it crashes during the "Loading..." dialog box? The function radiusSearch() is used in many places (e..g, when searching nearest neighbors in point clouds). If you have a map that always crashes when you try to load, that could be useful if you could share it.
I'm seeing some occasional crashes on map load. Unfortunately I wasn't able to get a crash log with debug symbols.
It appears
PointXYZ
is not valid.rtabmap/corelib/src/Rtabmap.cpp
Lines 5008 to 5009 in 8c0e57b
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